| In the past twenty years, the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study, design, and apply different kinds of robots especially industrial robots and cultivate person with ability in robotic. Allowing for the demand of teaching and scientific research, a teaching robot system is developed. The research is about the design of a teaching robot system with six degree of freedom.At first, according all demands that related, an expected technology criterion has been proposed as a basic goal in this paper. Basing on that goal and many examples, this robot adopted six degree of freedom architecture. The scheme of DC motor with harmonic reducer and incremental encoder are proposed. The control system scheme also has been introduced.The kinematical model of the robot is analyzed and established and also the forward and inverse kinematical equation is obtained. An algebraic is proposed to obtain the solutions of this model and the Jacobin matrix is deducted. The method is presented to insure this model can adapt various reference frames. The workspace and the position error are analyzed in the MATLAB software environment.In particular, the structure design is introduced in the paper. The type of DC motor, harmonic reducer and incremental encoder are selected. Some crucial parts are checked and the assemble graph and 3D model are presented.The model of joint servo system on the teaching robot has been established and analyzed. Position and velocity feedback method is adapted to control the joint and control parameters are obtained in the MATLAB software environment.Finally, some issues about trajectory planning of the teaching robot system are probed into in the paper. Some crucial arithmetic about forward and inverse kinematics and interpolation are designed in detail. |
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